EP0277447B1 - Système de repérage du mouvement d'un véhicule à chenilles - Google Patents

Système de repérage du mouvement d'un véhicule à chenilles Download PDF

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Publication number
EP0277447B1
EP0277447B1 EP87403008A EP87403008A EP0277447B1 EP 0277447 B1 EP0277447 B1 EP 0277447B1 EP 87403008 A EP87403008 A EP 87403008A EP 87403008 A EP87403008 A EP 87403008A EP 0277447 B1 EP0277447 B1 EP 0277447B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
ground
track
caterpillar
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP87403008A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0277447A1 (fr
Inventor
Gilles Clément
Jean-Marie Detriche
Eric Villedieu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Protee Groupement D'interet Economique
Original Assignee
Protee Groupement D'interet Economique
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Protee Groupement D'interet Economique filed Critical Protee Groupement D'interet Economique
Priority to AT87403008T priority Critical patent/ATE61120T1/de
Publication of EP0277447A1 publication Critical patent/EP0277447A1/fr
Application granted granted Critical
Publication of EP0277447B1 publication Critical patent/EP0277447B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B1/00—Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/30—Track-tensioning means
    • B62D55/305—Track-tensioning means acting on pivotably mounted idlers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/14—Arrangement, location, or adaptation of rollers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means

Definitions

  • the present invention relates to a system for tracking the movement of a tracked vehicle, in particular a remote-controlled robot or a robot with programmed displacement.
  • the turns are controlled according to different rotational speeds, in intensity and possibly in direction, for the drive wheels of the two tracks. Random friction between the tracks and the ground occurs, so it is impossible to determine the center of pivoting of the vehicle. The loss of precision thus achieved on the position of the vehicle cannot be accepted.
  • the object of the present invention is to remedy the drawbacks of known devices and in particular to provide a system for tracking the movement of a tracked vehicle combining means for ensuring the position of the pivot axis of the vehicle with two speed sensors placed at the pivot axis which measure the evolutions of the vehicle on the ground.
  • These sensors are preferably coding wheels with an axis of rotation parallel to the ground which roll without sliding on the ground and which have the double advantage of providing easily exploitable information, unlike coding balls with two information, and of being able to measure with precision. the rear steps of the machine because they are reversible.
  • the invention relates to a system for tracking the movement of a tracked vehicle, characterized in that it comprises on each track a means for improving at one point the grip of the track relative to the ground, and a sensor of speed integral with the vehicle, said sensor measuring the speed of this vehicle relative to the ground at a point located near the point of improvement in grip of the track, and a means of deducing the movement of the vehicle by comparing the information collected by the various sensors.
  • the means for improving the grip comprises a grip improvement wheel, with an axis parallel to the ground and perpendicular to the direction of movement of the tracks, rolling on the inner surface of the track and pressing that -this on the ground using a mechanical pressure application device.
  • the senor consists of an encoder wheel with an axis parallel to the ground and perpendicular to the direction of movement of the tracks, rolling without sliding on the ground and pressed against it using a mechanical device provided with return means.
  • the axes of the encoder wheel of each sensor and that of the wheel of the means for improving the grip on the ground corresponding to this sensor are located near the vertical projection of the barycenter of the vehicle.
  • Figure 1 first shows two tracks 5 and 5 ⁇ which move a vehicle disposed above them and not shown here. They are each arranged around two extreme wheels, respectively 2 and 3, and 2 ⁇ and 3 ⁇ ; the wheels 3 and 3 ⁇ are driven and each located at the end of a geared motor group 4 and 4 ⁇ controlled by a control system on-board 22 which also makes it possible to know the movement of the vehicle, that is to say its speed and its position.
  • a means of locally improving the adhesion of the corresponding track to the ground On each of the tracks 5 and 5 ⁇ is installed a means of locally improving the adhesion of the corresponding track to the ground. It essentially consists of a grip improvement wheel 6 which presses on a part of the inner surface of the track 5 using a pressure application device such as a lever 7 carrying the axis of the wheel 6, articulated at one end at a fixed point 8 of the vehicle and held at its other end by the end of a pressure screw 24 engaged in the chassis 30 of the vehicle; it can therefore be seen that the portion of the track 5 disposed under the wheel 6 is pressed against a small surface 21 against the ground 20 with high pressure.
  • the friction of the vehicle on the ground 20 is located mainly on the surfaces 21 and 21 ⁇ of the tracks 5 and 5 ⁇ , which means that the vertical pivot axis of the vehicle is intersecting with the axis joining these quasi-point surfaces 21 and 21 ⁇ .
  • this sensor should be installed near the surface 21 where the movement of the vehicle is known with the greatest accuracy.
  • It advantageously comprises a coding wheel 16 which rolls without sliding on the ground 20 by means of an adhesive strip 17 arranged on its rim (FIG. 2).
  • the device on which the coding wheel 16 is mounted comprises a return means such as a vertical rod 25 at the end of which the coding wheel 16 rotates and which is provided with a support 26 for compression springs 27, 28 also connected to the chassis 30 of the vehicle.
  • An optical pulse generator 15 linked to the rod 25 and arranged opposite the coding wheel 16 transmits the information concerning the speed of rotation of the latter to the control system 22 which controls the geared motor 4.
  • a similar sensor is fitted to the 'other track 5 ⁇ .
  • the overall displacement of the vehicle is therefore expressed as a function of the rotation of the coding wheels 16 and 16 ⁇ arranged at proximity of surfaces 21 and 21 ⁇ : the average of their displacements corresponds to the overall longitudinal displacement of the vehicle, while their difference is linked to the pivoting of this vehicle.
  • This information is calculated by the control system 22 which deduces the movement characteristics of the vehicle, that is to say its longitudinal speed, its speed of rotation and therefore the evolution of its position after a time integration.
  • the actual trajectory is constantly adjusted to a predefined trajectory, memorized by the control system 22, by modifying the speeds communicated to the geared motors 4 and 4 ⁇ .
  • the sensor described above has several advantages: it is simple and inexpensive to manufacture, its reliability is very high and it can be used both in forward and reverse of the vehicle. It is however possible to envisage the use of other speed sensors, for example acoustic or ultrasonic Doppler or optical sensors without contact with the ground, while remaining within the scope of the invention.
  • the device for improving the grip on the ground on the track 5 ⁇ and the corresponding speed sensor are arranged in a strictly symmetrical manner to those which have been described for the track 5.
  • the operation of the tracks 5 and 5 ⁇ is then identical , which improves the stability of the vehicle.
  • the lateral position of the pivot axis of the vehicle is at a point on the straight line joining the quasi-point surfaces 21 and 21 21; the transverse position of this point depends on the speeds of the two tracks 5 and 5 ⁇ applied by the gearmotors 4 and 4 ⁇ using the control means 22: thus, with two equal speeds but in opposite directions, the pivot axis is located at equal distance from the two tracks, and possibly very close to the barycenter of the vehicle, the stability of which is thus further improved.
  • the barycenter of the vehicle has a vertical projection passing close to the straight line joining the two point surfaces 21 and 21 ⁇ . It is also advantageous for this vertical projection to pass close to the axes of rotation X6 and X16 of the grip improvement wheel 6 and of the coding wheel 16.
  • the present invention therefore makes it possible to control with great precision the movements of a tracked vehicle; the ground grip improvement device also facilitates cornering by reducing friction, which reduces energy consumption.

Landscapes

  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
  • Handcart (AREA)
  • Catching Or Destruction (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Manipulator (AREA)
  • Transmissions By Endless Flexible Members (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
EP87403008A 1987-01-05 1987-12-30 Système de repérage du mouvement d'un véhicule à chenilles Expired - Lifetime EP0277447B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87403008T ATE61120T1 (de) 1987-01-05 1987-12-30 System zur ermittlung der bewegung eines raupenfahrzeuges.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8700016A FR2609335B1 (fr) 1987-01-05 1987-01-05 Systeme de reperage du mouvement d'un vehicule a chenilles
FR8700016 1987-01-05

Publications (2)

Publication Number Publication Date
EP0277447A1 EP0277447A1 (fr) 1988-08-10
EP0277447B1 true EP0277447B1 (fr) 1991-02-27

Family

ID=9346684

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87403008A Expired - Lifetime EP0277447B1 (fr) 1987-01-05 1987-12-30 Système de repérage du mouvement d'un véhicule à chenilles

Country Status (11)

Country Link
US (1) US4815319A (ko)
EP (1) EP0277447B1 (ko)
JP (1) JPS63170174A (ko)
KR (1) KR920002019B1 (ko)
AT (1) ATE61120T1 (ko)
CA (1) CA1288161C (ko)
DE (2) DE3768252D1 (ko)
ES (1) ES2003840B3 (ko)
FR (1) FR2609335B1 (ko)
GR (2) GR880300174T1 (ko)
MY (1) MY101787A (ko)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2692667B1 (fr) * 1992-06-18 1994-08-19 Alsthom Cge Alcatel Dispositif de mesure de déplacement pour véhicule, notamment pour robot tout-terrain, et véhicule équipé d'un tel dispositif.
US6112166A (en) * 1997-10-31 2000-08-29 Digimetrix, Inc. Portable measurement tool and method for escalators and moving walks
US7475745B1 (en) 2006-05-11 2009-01-13 Deroos Bradley G High mobility vehicle
WO2008127310A2 (en) * 2006-11-13 2008-10-23 Raytheon Sarcos Llc Unmanned ground robotic vehicle having an alternatively extendible and retractable sensing appendage
EP2549165B1 (en) * 2006-11-13 2014-03-12 Raytheon Company Serpentine robotic crawler
WO2008076192A2 (en) * 2006-11-13 2008-06-26 Raytheon Sarcos Llc Versatile endless track for lightweight mobile robots
EP2099672B1 (en) * 2006-11-13 2011-08-31 Raytheon Company Tracked robotic crawler having a moveable arm
CN101626946B (zh) * 2006-11-13 2013-06-05 雷神萨科斯公司 用于轻型机器人车辆的悬架系统和该车辆的支承方法
WO2008137953A1 (en) 2007-05-07 2008-11-13 Raytheon Sarcos, Llc Method for manufacturing a complex structure
JP5331102B2 (ja) * 2007-05-08 2013-10-30 レイセオン カンパニー ロボットクローラのための可変プリミティブマッピング
WO2009009673A2 (en) * 2007-07-10 2009-01-15 Raytheon Sarcos, Llc Modular robotic crawler
JP2010533102A (ja) * 2007-07-10 2010-10-21 レイセオン・サルコス・エルエルシー 連続軌道を有する蛇行ロボットクローラ
US8392036B2 (en) * 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
US8935014B2 (en) * 2009-06-11 2015-01-13 Sarcos, Lc Method and system for deploying a surveillance network
EP2440448B1 (en) * 2009-06-11 2015-09-30 Sarcos LC Amphibious robotic crawler
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
CN104594803B (zh) * 2015-02-13 2017-02-22 湖南文理学院 液压钻车履带自升高机构
US10071303B2 (en) 2015-08-26 2018-09-11 Malibu Innovations, LLC Mobilized cooler device with fork hanger assembly
ITUB20153382A1 (it) * 2015-09-03 2017-03-03 Fratelli Camisa Roberto E Massimo & C Macch Agricole S N C Macchina semovente
RU2620180C1 (ru) * 2015-11-12 2017-05-23 Владислав Александрович Полушкин Устройство для обеспечения работоспособности ходовой части гусеничной машины
US10807659B2 (en) 2016-05-27 2020-10-20 Joseph L. Pikulski Motorized platforms

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3869011A (en) * 1973-01-02 1975-03-04 Ramby Inc Stair climbing tracked vehicle
FR2389533B1 (ko) * 1977-05-04 1980-02-22 Nal Expl Oceans Centre
JPS56135372A (en) * 1980-03-24 1981-10-22 Kubota Ltd Crawler-type travelling vehicle
US4410952A (en) * 1980-04-18 1983-10-18 The Boeing Company Method and apparatus for generating nose wheel speed signals
US4322809A (en) * 1980-04-18 1982-03-30 The Boeing Company Method and apparatus for generating nose wheel speed signals
DE3233029A1 (de) * 1981-09-18 1983-04-07 Société d'Applications Générales d'Electricité et de Mécanique SAGEM, 75783 Paris Gyroskopische navigationsvorrichtung mit leit- oder stabilisationsfunktionen
US4630685A (en) * 1983-11-18 1986-12-23 Caterpillar Inc. Apparatus for controlling an earthmoving implement
JPS611581A (ja) * 1984-06-12 1986-01-07 Kubota Noki Seisakusho:Kk 履帯車輛の施回装置

Also Published As

Publication number Publication date
GR3001521T3 (en) 1992-11-23
FR2609335B1 (fr) 1989-04-14
JPH0472751B2 (ko) 1992-11-19
KR880009295A (ko) 1988-09-14
ATE61120T1 (de) 1991-03-15
EP0277447A1 (fr) 1988-08-10
MY101787A (en) 1992-01-17
DE3768252D1 (de) 1991-04-04
ES2003840B3 (es) 1991-09-01
FR2609335A1 (fr) 1988-07-08
ES2003840A4 (es) 1988-12-01
JPS63170174A (ja) 1988-07-14
KR920002019B1 (ko) 1992-03-09
CA1288161C (en) 1991-08-27
GR880300174T1 (en) 1989-02-23
DE277447T1 (de) 1989-01-05
US4815319A (en) 1989-03-28

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